People tracking by cooperative fusion of RADAR and camera sensors

Accurate 3D tracking of objects from monocular camera poses challenges due to the loss of depth during projection. Although ranging by RADAR has proven effective in highway environments, people tracking remains beyond the capability of single sensor systems. In this paper, we propose a cooperative RADAR-camera fusion method for people tracking on the ground plane. Using average person height, joint detection likelihood is calculated by back-projecting detections from the camera onto the RADAR Range-Azimuth data. Peaks in the joint likelihood, representing candidate targets, are fed into a Particle Filter tracker. Depending on the association outcome, particles are updated using the associated detections (Tracking by Detection), or by sampling the raw likelihood itself (Tracking Before Detection). Utilizing the raw likelihood data has the advantage that lost targets are continuously tracked even if the camera or RADAR signal is below the detection threshold. We show that in single target, uncluttered environments, the proposed method entirely outperforms camera-only tracking. Experiments in a real-world urban environment also confirm that the cooperative fusion tracker produces significantly better estimates, even in difficult and ambiguous situations

Eavesdropping Whilst You're Shopping: Balancing Personalisation and Privacy in Connected Retail Spaces

Physical retailers, who once led the way in tracking with loyalty cards and `reverse appends', now lag behind online competitors. Yet we might be seeing these tables turn, as many increasingly deploy technologies ranging from simple sensors to advanced emotion detection systems, even enabling them to tailor prices and shopping experiences on a per-customer basis. Here, we examine these in-store tracking technologies in the retail context, and evaluate them from both technical and regulatory standpoints. We first introduce the relevant technologies in context, before considering privacy impacts, the current remedies individuals might seek through technology and the law, and those remedies' limitations. To illustrate challenging tensions in this space we consider the feasibility of technical and legal approaches to both a) the recent `Go' store concept from Amazon which requires fine-grained, multi-modal tracking to function as a shop, and b) current challenges in opting in or out of increasingly pervasive passive Wi-Fi tracking. The `Go' store presents significant challenges with its legality in Europe significantly unclear and unilateral, technical measures to avoid biometric tracking likely ineffective. In the case of MAC addresses, we see a difficult-to-reconcile clash between privacy-as-confidentiality and privacy-as-control, and suggest a technical framework which might help balance the two. Significant challenges exist when seeking to balance personalisation with privacy, and researchers must work together, including across the boundaries of preferred privacy definitions, to come up with solutions that draw on both technology and the legal frameworks to provide effective and proportionate protection. Retailers, simultaneously, must ensure that their tracking is not just legal, but worthy of the trust of concerned data subjects.Comment: 10 pages, 1 figure, Proceedings of the PETRAS/IoTUK/IET Living in the Internet of Things Conference, London, United Kingdom, 28-29 March 201

Cooperative multi-sensor tracking of vulnerable road users in the presence of missing detections

This paper presents a vulnerable road user (VRU) tracking algorithm capable of handling noisy and missing detections from heterogeneous sensors. We propose a cooperative fusion algorithm for matching and reinforcing of radar and camera detections using their proximity and positional uncertainty. The belief in the existence and position of objects is then maximized by temporal integration of fused detections by a multi-object tracker. By switching between observation models, the tracker adapts to the detection noise characteristics making it robust to individual sensor failures. The main novelty of this paper is an improved imputation sampling function for updating the state when detections are missing. The proposed function uses a likelihood without association that is conditioned on the sensor information instead of the sensor model. The benefits of the proposed solution are two-fold: firstly, particle updates become computationally tractable and secondly, the problem of imputing samples from a state which is predicted without an associated detection is bypassed. Experimental evaluation shows a significant improvement in both detection and tracking performance over multiple control algorithms. In low light situations, the cooperative fusion outperforms intermediate fusion by as much as 30%, while increases in tracking performance are most significant in complex traffic scenes

Audio-visual tracking of concurrent speakers

Audio-visual tracking of an unknown number of concurrent speakers in 3D is a challenging task, especially when sound and video are collected with a compact sensing platform. In this paper, we propose a tracker that builds on generative and discriminative audio-visual likelihood models formulated in a particle filtering framework. We localize multiple concurrent speakers with a de-emphasized acoustic map assisted by the image detection-derived 3D video observations. The 3D multimodal observations are either assigned to existing tracks for discriminative likelihood computation or used to initialize new tracks. The generative likelihoods rely on color distribution of the target and the de-emphasized acoustic map value. Experiments on AV16.3 and CAV3D datasets show that the proposed tracker outperforms the uni-modal trackers and the state-of-the-art approaches both in 3D and on the image plane